Grounding and expression. Grounding and expression.
Barefoot walking. Tactile connection to Earth. Swimming, canoeing, running, frisbee, etc., etc.
Expression means creative movement of any kind, including, but not limited to: spontaneous kriyas and dynamic postures, dancing, skipping, jumping, martial arts, playing music, manual labor, and the list goes on and on...
There might be some herbal/organic supplements as well (pump up the potassium and magnesium). I've struggled with nervous legs since childhood, and the above remedies have helped. The body is a fine-tuned instrument which we must constantly listen to and cooperate with.
Godspeed, mate!